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A structure for generic and extendable, keyframe-based localization and mapping algorithms

Set of communication libraries, including simple RS232, CAN, sockets (both in server and client modes) and others.

IRI-ROS module for the simple TIAGo gripper, including a sample client and a Behavior tree layer.

Proposal for a basic structure for IRI behavior tree clients.

Gnss plugin

Set of libraries to be used in any ROS node. At the moment it includes classes to handle timeouts and watchdogs in an easy way.

Navigation maps package, with 2D map images normally generated with Gmapping and used by map_server package.

Simulation worlds and meshes for Gazebo simulator